Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech. Eng. IIT Delhi August 01, 2017@IIT Delhi
Contribution of IIT Delhi
Humanoid Robots Asimo (Honda): 120cm; 52kg Qrio (Sony): 58cm; 7kg
History: Definition of Robot What is a robot? Robit (Check word) --> Work Robota (Slav word) --> Menial or slave labour Got publicity from the play Rossum s Universal Robots (RUR) [1921] Karel Capek
PUMA Robot
Photo of a Unimate robot [Courtesy: http://www.robothalloffame.org/inductees/ 03inductees/unimate.html]
RTX Robot
SCORBOT-Israeli (by Falcon)
Other Applications: Space Robot
(a) (b) Fig. 1.4 An AGV: (a) Stand alone; (b) At work [Courtesy: www.globalspec.com]
Wheeled Robots Centre-driven Vehicle (Carlisle, 1984) With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel (Muir and Neuman, 1987)
RoboTRAC A system supported with wheels and legs
Snake-like articulated mobile robot
Fig. 1.2 (b) Sojourner microrover
Legged robot
Medical Applications The da Vinci robot for minimally invasive surgery [Courtesy: http://www.intuitivesurgical.com/products/]
Indian Robot: PPR by Systemantics, India
Fig. 1.3 (b) Six-axis robot from MTAB India [Courtesy: http://www.mtabindia.com/robotics/aristorobotics.htm]
Tata Automation Limited (TAL), Pune
Daksh (DRDO) 20
Defence robot Daksh by RDE (DRDO), Pune [Courtesy: http://en.wikipedia.org/wiki/drdo_daksh]
Grey Orange: Warehouse Robots Samay Kohli (left) and Akash Gupta
Netra (DRDO) 23
DRDO s unmanned aerial vehicle, NETRA [Courtesy: http://en.wikipedia.org/wiki/drdo_netra]
Remotely operated underwater robot by CMERI, Durgapur [Courtesy: http://www.cmeri.res.in/rnd/rov.html]
Parallel Robots (SDD 08-10, 12-16) Singularity
Other Application of Parallel Robots
Programme for Autonomous Robotics (Sponsored by BARC/BRNS) Research@IIT Delhi (10 Faculty + 20 Students) 28 Visit us at http://robotics.iitd.ac.in
I/O Devices Adaptive F/T Control Virtual Environment Kinematic Identification Dynamic Identification Vision Based Control
RoboCon2RoboMuse: A New Initiative Nov. 08-Mar 09 Nov. 09
Projects and Awards Integrated with the courses Four B. Tech projects guided Two awarded best awards + 2014 (RoboMuse 3.0) In 2017 Another B. Tech project in 2016 (RoboMuse 4.0: Autonomous & obstacle avoidance)
Int. Std. Org. (ISO) Definition Robot An automatically controlled, re-programmable, multi-purpose manipulative machine, with or without locomotion, for use in industrial automation applications Other definitions: Rob. Soc. of Japan, etc. Common temrs: Re-programmable, Multipurpose
Laws of Robotics By Issac Asimov (1940s) 1. A robot may not injure a human being or, though inaction, allow a human being to come to harm. 2. A robot must obey the orders given by human beings, except when such orders would conflict with the first law. 3. A robot must protect its own existence, as long as such protection does not conflict with the first or second law.
First Robot First Commercial Robot (1962) By Unimation Inc., USA, founded by Joseph F. Engelberger (Father of Robotics) in 1950 Installed in General Motors plant
Fig. 1.18 Estimated populations of industrial robots [Courtesy: http://www.ifr.org/industrial-robots/statistics]
Fig. 1.19 Number of service robots sold in 2011 and 2012 [Courtesy: http://www.ifr.org/statistics/keydata2005.htm]
Table 1.1 Estimated stock of industrial robots during 2011-12 and forecast for 2013 and 2016
Reasons for Poor Utilization Mainly due to U N E M P L O Y M E N T [Japan with 3 50 000 robots in 1992 had < 3% unemployment] Other reasons Lack of proper perspective Cheap labour Non-availability High import cost/high investment
More Reasons R&D Supports: By Govt. only Companies involved: Almost nil Advanced Research Absorption: Poor Questions: Should We Use Robots? Do We Need Robots? If yes, how? Yes Yes (modified way) Let s see
Robotics in Our Countries To Overcome `Robotics vs. Unemployment Do we like to work in front of a furnace at 500 o C [Hazardous] weld two parts for 8H/day for several years? [Monotonous] Robot = Machine [Robot Human]
Where and How? Where? In hazardous environment (Chemical, Steel, Nuclear, plants) High precision applications Export oriented products How? Indigenous design Develop as required (Customized design) Make awareness Think it as a machine
When to Use a Robot? Thumb Rules: Is task Dirty, Dull, Dangerous, Difficult? Will a human be jobless? Is a human willing to do a job? Is robot usage economic?
Conclusions Robotics is explained Applications of robots Several advanced robots are shown RoboMuse
Thank You saha@mech.iitd.ac.in sahaiitd@gmail.com http://sksaha.com